CHAPTER 2 DYNAMIC FORCE ANALYSIS
where, mi is the mass of the link i, Ii is the moment of inertia about an axis passing through the centre of mass gi and perpendicular to plane of rotation of the link i, agi and αgi are the acceleration and angular acceleration of the centre of mass of the ith link respectively. Fig.2. The Free-body diagrams of (a) Link 2(crank/input link) (b) Link …
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